Thesis
Some graph theoretic methods for distributed control of communicating agent networks
Master of Science (MS), Washington State University
2004
Handle:
https://hdl.handle.net/2376/274
Abstract
Our work is motivated by the increasing application for fleets of autonomous agents; specifically the design of local feedback laws for global action. First, we consider formation and alignment of distributed sensing agents with double-integrator dynamics and saturating actuators. We explore the role of the agents sensing architecture on their ability to complete formation and alignment tasks. We also consider design of static controllers for the network of agents, and find that static control is indeed possible for a large class of sensing architectures. Second, we present a control-theoretic perspective on the design of distributed agreement protocols. We explore agreement-protocol analysis and design for a network of agents with single-integrator dynamics and arbitrary linear observations. We explore agreement in a quasi-linear model with a stochastic protocol, which we call the controlled voter model. Finally, we present a stochastic protocol for decision-making or agreement for a network of sensing agents subject to communication faults. Throughout, several examples are developed, to motivate our formulation and illustrate our results.
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Details
- Title
- Some graph theoretic methods for distributed control of communicating agent networks
- Creators
- Kristin Herlugson
- Contributors
- Ali Saberi (Degree Supervisor)Sandip Roy (Degree Supervisor)
- Awarding Institution
- Washington State University
- Academic Unit
- Electrical Engineering and Computer Science, School of
- Theses and Dissertations
- Master of Science (MS), Washington State University
- Identifiers
- 99900525297501842
- Language
- English
- Resource Type
- Thesis